Asymmetric error-constrained path-following control of a stratospheric airship

This paper addresses the asymmetric error-constrained vector filed path-following problem of a stratospheric airship with external disturbances. An algorithm for asymmetric error-constrained path-following of the stratospheric airship is proposed based on the theories of asymmetric barrier Lyapunov function, vector field guidance and adaptive sliding mode control. Firstly, the asymmetric vector field guidance law (AVFGL) is presented, which can navigate the stratospheric airship along the predefined path and guarantee the tracking error is limited by aysmmetric error constriants. Secondly, an adaptive sliding mode attitude controller is introduced to track the desired attitude caculated by the AVFGL. Finally, an adaptive velocity controller to maintain constant velocity is added to the control algrithm. Simulation results demonstrate the effectiveness of the proposed control algorithm.